US10773395B2 - Robot and arm assembly thereof - Google Patents

Robot and arm assembly thereof Download PDF

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Publication number
US10773395B2
US10773395B2 US16/285,169 US201916285169A US10773395B2 US 10773395 B2 US10773395 B2 US 10773395B2 US 201916285169 A US201916285169 A US 201916285169A US 10773395 B2 US10773395 B2 US 10773395B2
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United States
Prior art keywords
forearm
hand
recess
upper arm
arm assembly
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US16/285,169
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US20200180167A1 (en
Inventor
Youjun Xiong
Zuyi Mao
Xinpu Chen
Gao YANG
Defu Liu
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Ubtech Robotics Corp
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Ubtech Robotics Corp
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Assigned to UBTECH ROBOTICS CORP reassignment UBTECH ROBOTICS CORP ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: CHEN, XINPU, LIU, DEFU, MAO, ZUYI, XIONG, Youjun, YANG, GAO
Publication of US20200180167A1 publication Critical patent/US20200180167A1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H13/00—Toy figures with self-moving parts, with or without movement of the toy as a whole
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H3/00—Dolls
    • A63H3/36—Details; Accessories
    • A63H3/46—Connections for limbs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/005—Arms having a curved shape
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/0016—Balancing devices using springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams

Definitions

  • the present disclosure generally relates to robots, and particularly to a robot and its arm.
  • a servo is a key component of some robots. Generally, one servo can provide one rotational degree of freedom. In order to imitate human actions, a humanoid robot usually needs many servos to provide the same amount of rotational degrees of freedom. It is useful and desirable to provide a robot that needs fewer servos.
  • FIG. 1 is an isometric view of a robot according to one embodiment.
  • FIG. 2 is an isometric partially exploded view of an arm assembly of the robot of FIG. 1 .
  • FIG. 3 is an isometric view of the leg assembly of the robot of FIG. 1 , with certain components omitted for clarity.
  • FIG. 4 is similar to FIG. 3 but viewed from a different perspective.
  • FIG. 5 is an isometric partially exploded view of the arm assembly of FIG. 4 .
  • FIG. 6 is an isometric view of the leg assembly of the robot of FIG. 1 , with certain components omitted for clarity.
  • FIG. 7 is similar to FIG. 5 but viewed from a different perspective.
  • FIG. 8 is an isometric partially exploded view of an arm assembly of the robot of FIG. 1 .
  • FIG. 9 is an isometric exploded view of an arm assembly of the robot of FIG. 1
  • a robot includes an arm assembly 1000 and a chest 200 .
  • the arm assembly 1000 includes a servo 10 coupled to the chest 200 , an upper arm 20 driven by the servo 10 , a forearm 30 rotatably coupled to the upper arm 20 , and a forearm transmission member 60 including a first end rotatable with respect to the chest 200 and a second end coupled to the forearm 30 .
  • the upper arm 20 , the forearm 30 and the forearm transmission member 60 are arranged in such a way that the forearm 30 rotates when the upper arm 20 rotates with respect to the chest 200 .
  • the arm assembly uses only one servo to drive the upper arm 20 and the forearm 30 , which saves cost and facilitates simplification of motion control algorithm of the robot.
  • the servo 10 is fixed in the chest 200 and is electrically connected to a main control processor and executes motion commands from the main control processor.
  • the output shaft of the servo 10 is coupled to the arm assembly 1000 for driving the arm assembly 1000 .
  • the arm assembly 1000 further includes a hand 40 .
  • the upper arm 20 includes two shells 21 connected to each other.
  • the forearm 30 includes two shells 31 connected to each other.
  • the hand 40 includes two shells 44 connected to each other.
  • the upper arm 20 and the forearm 30 are pivotally connected to each other by a pivot shaft 63 .
  • Both the upper arm 20 and the forearm 30 include a mounting portion for mounting the pivot shaft 63 .
  • An upper-arm shield 22 is provided at the upper end of the upper arm 20 .
  • the forearm 30 includes a forearm shield 32 .
  • the arm assembly 1000 further includes a rotary joint 70 fixed to the output shaft of the servo 10 and the upper arm 20 .
  • the rotary joint 70 transmits motion from the output shaft of the servo 10 to the upper arm 20 such that the upper arm 20 can rotate with respect to the chest 200 .
  • the output shaft of the servo 10 and the rotary joint 70 are coaxially and fixedly connected to each other via a connecting member 70 a.
  • the output shaft of the servo 40 and the rotary joint 70 a are connected to each other by profile shaft connection that is a connection technique that uses a shaft and a shaft hole both having non-circular cross section.
  • the rotary joint 70 a and the rotary joint 70 are connected to each other by profile shaft connection.
  • the connecting member 70 a includes a shaft 71 has a non-circular cross section and the rotary joint 70 defines a shaft hole that is shaped and sized according to the shaft.
  • the shaft of the connecting member 70 a is inserted in to the shaft hole of the rotary joint 70 , which allows the rotary joint 70 to rotate together with the connecting member 70 a.
  • the two shells 21 each define a shaft hole 214 and opposite ends of the shaft 71 of the connecting member 71 a are fit in the shaft holes 214 .
  • the arm assembly 1000 further includes a fixed post 90 securely connected to the chest 200 .
  • the first end of the forearm transmission mechanism 60 is rotatably coupled to the fixed post 90 .
  • the rotary-joint 70 defines a groove 73 passing therethrough.
  • One end of the fixed post 90 passes through the groove 73 and one of the two shells 21 .
  • the groove 73 is arc-shaped and centered on the rotation axis of the rotary joint 70 .
  • the fixed post 90 is located below the output shaft of the servo 10 .
  • the hand 40 is connected to an end of the forearm 30 and rotatable about a first axis extending along a lengthwise direction of the forearm 30 and rotatable about a second axis that is perpendicular to the first axis.
  • the arm assembly 1000 further includes a hand transmission mechanism 50 to transmit motion from the servo to the hand 40 so as to drive the hand 40 to rotate with respect to the forearm 30 .
  • the servo 10 drives the upper arm 20 to rotate and the hand transmission mechanism 50 transmits motion from the servo 10 to the hand 40 to rotate.
  • the arm assembly 1000 is driven by a single servo to drive the upper arm 20 and the hand 40 .
  • the arm assembly 1000 further includes a rotating member 80 rotatably connected to the rotary joint 70 .
  • the rotating member 80 and the rotary joint 70 are coaxial.
  • the rotating member 80 is rotatable about the rotation axis of the rotary joint 70 .
  • the rotary joint 70 defines a receiving hole 72 .
  • the rotating member 80 includes a shaft 81 that is fit in the receiving hole to rotatably connect the rotating member 80 to the rotary joint 70 .
  • the rotating member 80 includes a first lever 82 and a second lever 83 that are circumferentially spaced apart from each other.
  • the second lever 83 is used to contact the fixed post 90 such that the rotating member 80 can be pushed by the fixed post 90 to rotate with respect to the rotary joint 70 .
  • the hand transmission mechanism 50 starts to operate to drive the hand to rotate about the first axis extending along a lengthwise direction of the forearm 30 .
  • the fixed post 90 and the second lever 83 are in a same vertical plane.
  • the servo 10 drives the rotary joint 70 to rotate, the fixed post 90 can come into contact with and apply a push force to the second lever 83 , thereby rotating the rotating member 80 .
  • the hand transmission mechanism 50 includes a first sliding member 51 slidably connected to the upper arm 20 and urged to move by the first lever 82 , a second sliding member 52 slidably connected to the forearm 30 and urged to move by the first sliding member 51 , and a worm 53 rotatably mounted to the forearm 30 and connected to the hand 40 .
  • the worm 53 has a helical tooth 531 that abuts against the second sliding member 52 so as to rotate when pushed by the second sliding member 52 .
  • the servo 10 drives the rotary joint 70 to rotate.
  • the position of the fixed post 90 is fixed.
  • the worm 53 rotates as the second sliding member 52 moves downward, which drives the hand 40 to rotate about the first axis extending along a lengthwise direction of the forearm 30 .
  • the upper arm 20 has a longitudinal rib 211 extending along the longitudinal direction thereof and two lateral ribs 212 spaced apart from each other.
  • the first sliding member 51 includes an L-shaped limiting wall 511 , and the first sliding member 51 and the limiting wall 511 form a recess 512 .
  • the longitudinal rib 211 and the recess 512 corporately define a sliding direction of the first sliding member, and the limiting wall 511 and the lateral ribs 212 corporately define a moving range of the first sliding member.
  • the forearm 30 defines a sliding groove 311 extending along the lengthwise direction thereof for slidably receiving the second sliding member 52 therein.
  • the forearm 30 defines a through hole 316 through which the worm 53 passes.
  • the outer surface of the worm 53 is provided with a limiting portion 532 .
  • the limiting portion 532 is engaged with the inner w all of the forearm 30 to prevent axial movement of the worm 53 so that the worm 53 can only rotate.
  • one of the two shells 31 is provided with a through hole 312 .
  • the upper abutting end of the second sliding member 52 passes through the through hole 312 to abut against the lower abutting portion of the first sliding member 51 .
  • Both the upper abutting end of the second sliding member 52 and the lower abutting portion of the first sliding member 51 are provided with abutting slopes, so that the first sliding member can easily push second sliding member 52 to move.
  • the lower abutting portion of the second sliding member 52 has an abutting curved surface adapted to the helical tooth 531 , so that the lower abutting portion of the second sliding member 52 can easily push the helical tooth 531 to rotate the worm 53 .
  • the hand transmission mechanism 50 further includes a first elastic member 54 connected to the upper arm 20 and used to return the first sliding member 51 to its original position when the first lever 82 is disengaged from the first sliding member 51 , and a second elastic member 55 connected to the forearm 30 and used to return the worm 53 to its original position.
  • the first elastic member 54 may be a spring.
  • the first sliding member 51 includes a post 513 on which the first elastic member 54 is mounted.
  • the upper arm 20 includes a wall 213 against which an end of the first elastic member 54 abuts. When the rotating member 80 pushes the first sliding member 51 , the first clastic member 54 is compressed.
  • the second elastic member 55 can be a torsion spring arranged around the worm 53 . Two arms of the torsion spring are respectively connected to the forearm 30 and the worm 53 .
  • the forearm 30 defines a recess 313 .
  • the forearm transmission mechanism 60 is a linkage bar 61 and the linkage bar 61 includes a sliding post 611 at the second end that is movably received in the recess 313 .
  • the sliding post 611 and the recess 313 are configured in such a way that the forearm transmission mechanism 6 pulls the forearm to rotate with respect to the upper aim when the upper arm starts to rotate upward from an original position.
  • the upper arm 20 , the lower arm 30 , the forearm transmission mechanism 60 and the chest 200 corporately form a four-bar linkage mechanism.
  • the servo 10 drives the upper arm 20 to rotate
  • the forearm transmission mechanism 60 pulls, via the sliding post, the forearm 30 to flex. That is, the forearm 30 is pulled to rotate toward the upper arm 20 .
  • the forearm 30 defines a sliding groove 314 that is in communication with the recess 313 .
  • the sliding post 611 , the recess 313 and the sliding groove 314 are configured in such way that the sliding post 611 moves out of the recess 313 and into the sliding groove 314 after the forearm 30 has rotated for a predetermined angle.
  • the sliding groove 314 is arch-shaped and centered on the rotation axis of the forearm 30 .
  • the recess 313 extend in the radial direction and arranged at the end of the sliding groove 314 away from the fixed post 90 .
  • the arm assembly 1000 further includes a fourth elastic member 62 to apply a restoring force to the forearm 30 so as to drive the forearm 30 to rotate such that the arm assembly 1000 returns back to a fully extended state, after the upper arm has rotated for a preset angle.
  • the fourth elastic member 62 can be a torsion spring, and the torsion spring is arranged around the pivot shaft 63 that connects the upper arm 20 to the forearm 30 . Two arms of the torsion spring abut against the upper arm 20 and the forearm 30 , respectively. After the upper arm 20 has rotated back to its original position, the sliding post 611 will move from the sliding groove 314 back to the recess 313 .
  • the forearm 30 includes a protrusion 315 that is configured in such a way that the protrusion 315 applies a push force to the hand 40 when the hand rotates about the second axis and comes into contact with the protrusion 315 such that the hand 40 extends with respect to the forearm 30 . That is, the dorsum of the hand 40 rotates toward the forearm 30 .
  • the hand 40 is rotated by the worm 53 .
  • the protrusion 315 will come into contact with the hand 40 . Since the protrusion 315 has a transitional arc surface, the hand 40 will be pushed to rotate.
  • the hand 40 includes a third elastic member 56 to apply a restoring force to the hand 40 to rotate the hand 40 about the second axis from an extension stale to an original state.
  • the hand 40 is rotatably connected to one end of the worm 53 via a pivot shaft 57 .
  • the rotation axis between the hand 40 and the worm 53 is perpendicular to the rotation axis of the forearm 30 .
  • the third elastic member 56 may be a torsion spring arranged around the pivot shaft 57 between the hand 40 and the worm 53 . Two arms of the torsion spring are respectively connected to the hand 40 and the worm 53 .
  • the arm assembly 1000 further includes a hand shield 41 rotatably connected to the forearm 30 and a fifth elastic member 43 that is connected to the forearm 30 and used to apply a restoring force to the hand shield 41 when the hand 40 rotates from the extension state to the original state.
  • the hand shield 41 protects the hand 40 and prevents external forces from damaging joint of the hand 40 .
  • the hand shield 41 is rotatably connected to the forearm shield 32 via a pivot shaft 42 .
  • the free end of the hand shield 41 abuts against the dorsum of the hand 40 .
  • the fifth elastic member 43 may be a torsion spring arranged around the pivot shaft 42 between the hand shield 41 and the forearm shield 32 .
  • Two arms of the torsion spring are respectively connected to the hand shield 41 and the forearm shield 32 .
  • the hand shield 41 will be pushed to rotate and the torsion spring is twisted.
  • the torsion spring rebounds and pushes the hand shield 41 to return to its original position.
  • a robot includes an arm assembly as described above.
  • the arm assembly uses only one servo to drive the upper arm 20 and the forearm 30 , which saves cost and facilitates simplification of motion control algorithm of the robot.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Toys (AREA)
US16/285,169 2018-12-11 2019-02-25 Robot and arm assembly thereof Active 2039-03-15 US10773395B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN201811511150.3A CN109531593B (zh) 2018-12-11 2018-12-11 机器人及其手臂结构
CN201811511150 2018-12-11
CN201811511150.3 2018-12-11

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US20200180167A1 US20200180167A1 (en) 2020-06-11
US10773395B2 true US10773395B2 (en) 2020-09-15

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109773801B (zh) * 2018-12-11 2021-04-20 深圳市优必选科技有限公司 机器人及其手臂结构
CN110802605A (zh) * 2019-10-12 2020-02-18 深圳市优必选科技股份有限公司 一种转动结构及机器人

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US5741113A (en) * 1995-07-10 1998-04-21 Kensington Laboratories, Inc. Continuously rotatable multiple link robot arm mechanism
US6499936B2 (en) * 2001-02-17 2002-12-31 Yokogawa Electric Corporation Transfer system
US20080121064A1 (en) * 2006-06-28 2008-05-29 Genmark Automation, Inc. Robot with belt-drive system
CN101301754A (zh) 2008-07-01 2008-11-12 舒宏琦 机器人手动作机构
US20090060684A1 (en) * 2007-08-29 2009-03-05 Kabushiki Kaisha Toshiba Robot
US7581465B2 (en) * 2002-10-22 2009-09-01 Honda Motor Co., Ltd. Joint structure of robot
US7628093B2 (en) * 2007-03-07 2009-12-08 Disney Enterprises, Inc. Three-axis robotic joint with human-based form factors
US20130104686A1 (en) * 2011-10-31 2013-05-02 Honda Motor Co., Ltd. Joint mechanism and robot having the same
US20150217446A1 (en) * 2002-05-09 2015-08-06 Brooks Automation, Inc. Dual arm robot
US20160158932A1 (en) * 2006-09-25 2016-06-09 Board Of Trustees Of Leland Stanford Junior University Electromechanically counterbalanced humanoid robotic system
CN106041995A (zh) 2016-08-05 2016-10-26 北京工业大学 一种仿人机械手
CN107322633A (zh) 2017-05-17 2017-11-07 郑州大学 一种仿生机械手臂

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CN206123670U (zh) * 2016-08-31 2017-04-26 佛山博文机器人自动化科技有限公司 一种仿人机器人
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CN206357217U (zh) * 2016-12-30 2017-07-28 深圳市优必选科技有限公司 机器人及其机器人肩臂转动结构
CN107116533A (zh) * 2017-04-21 2017-09-01 重庆大学 仿人机械臂
CN206840081U (zh) * 2017-07-06 2018-01-05 哈尔滨工业大学深圳研究生院 一种线驱动柔性机器人
CN207656431U (zh) * 2017-09-11 2018-07-27 敏实汽车技术研发有限公司 一种自动打磨机构
RU2668414C1 (ru) * 2017-11-09 2018-09-28 Федеральное государственное бюджетное образовательное учреждение высшего образования "Сибирский государственный индустриальный университет" ФГБОУ ВО "СибГИУ" Механизм для вычерчивания пространственных кривых
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4897015A (en) * 1987-05-15 1990-01-30 Ade Corporation Rotary to linear motion robot arm
US5741113A (en) * 1995-07-10 1998-04-21 Kensington Laboratories, Inc. Continuously rotatable multiple link robot arm mechanism
US6499936B2 (en) * 2001-02-17 2002-12-31 Yokogawa Electric Corporation Transfer system
US20150217446A1 (en) * 2002-05-09 2015-08-06 Brooks Automation, Inc. Dual arm robot
US7581465B2 (en) * 2002-10-22 2009-09-01 Honda Motor Co., Ltd. Joint structure of robot
US20080121064A1 (en) * 2006-06-28 2008-05-29 Genmark Automation, Inc. Robot with belt-drive system
US20160158932A1 (en) * 2006-09-25 2016-06-09 Board Of Trustees Of Leland Stanford Junior University Electromechanically counterbalanced humanoid robotic system
US7628093B2 (en) * 2007-03-07 2009-12-08 Disney Enterprises, Inc. Three-axis robotic joint with human-based form factors
US20090060684A1 (en) * 2007-08-29 2009-03-05 Kabushiki Kaisha Toshiba Robot
CN101301754A (zh) 2008-07-01 2008-11-12 舒宏琦 机器人手动作机构
US20130104686A1 (en) * 2011-10-31 2013-05-02 Honda Motor Co., Ltd. Joint mechanism and robot having the same
CN106041995A (zh) 2016-08-05 2016-10-26 北京工业大学 一种仿人机械手
CN107322633A (zh) 2017-05-17 2017-11-07 郑州大学 一种仿生机械手臂

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US20200180167A1 (en) 2020-06-11
CN109531593B (zh) 2021-06-29

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